Gripping apparatus

ABSTRACT

A pair of elongate arms, carried by a material handling device such as a refuse collection vehicle, are oppositely movable between a release position and a gripping position. The friction enhancing surface of a belt carried by each arm compliantly engages the perimeter of a container or similar article as the arms move to the gripping position. In response to movement of the arms to the gripping position, a limb pivotally carried by each arm extends to present a segment of the respective belt to engage the surface of a small container.

This application is a continuation, of application Ser. No. 308,839,filed 9 Feb. , 1989.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates to material handling apparatus.

More particularly, the present invention relates to apparatus forgripping and holding containers.

In a further and more specific aspect, the instant invention concerns anapparatus for alternately gripping containers of varied perimeter.

2. The Prior Art

Apparatus for gripping and holding containers or similar articles arewell known. Exemplary is the container handling mechanism associatedwith conventional refuse collection vehicles. The mechanism is utilizedto grip, lift and tilt a refuse container for transfer of the contentsto the storage bay of the collection vehicle.

A typical container handling apparatus, of particular interest inconnection with the instant invention, includes a pair of gripping armscarried at the outboard end of a boom which resides intermediate thestorage bay and the cab of a commercially available refuse collectionvehicle. Remotely operatable from within the operator's compartment, themechanism grips and maneuvers a refuse container for transfer of thecontents to the receiving hopper of the storage bin.

The boom is reciprocating along a linear path between a retractedposition and an extended position. The boom is also angularly movablebetween a lowered position and an elevated position. An angularlypositionable tilt mechanism, pivotably affixed to the outboard end ofthe boom, supports grip actuating means which are movable betweenextended and retracted positions. The arms, carried by the gripactuating means, are movable in response thereto between a retractedrelease position and an extended gripping position.

Normally, as during travel of the vehicle, the boom resides in thelowered retracted position. The arms, being in the extreme releaseposition and extending in substantially opposite directions, reside inclose proximity to the side of the vehicle. As the vehicle is brought toa stop adjacent a refuse container, the boom is extended and the armsengaged about the container. The container is then lifted and tilted fordeposit of the contents into the hopper. Subsequently, the container isreturned to the original location and the handling mechanism regressedto the travel configuration.

Refuse containers are readily available in an array of sizes and shapes.Known, for example, are large stationary containers having a capacity ofthree hundred to four hundred twenty gallons and a diameter ranging fromforty-two to forty-eight inches. Also common are smaller mobilecontainers with diameters in the range of twenty-two to twenty-eightinches and capacities of sixty to one hundred gallons. The foregoingdiameters are taken at the gripping perimeter which resides atapproximately twenty-eight inches above the supporting surface. Whilecylindrical containers are exceedingly common, containers of alternatecross-sectional configuration, such as rectangular, are known.

Various materials, ranging from rigid metal to flexible plastic, areutilized in the fabrication of refuse containers. Particularly favoredby the art is polyethylene shaped by various conventional moldingprocesses. The resultant structure includes a comparatively flexiblesidewall having a relatively smooth exterior surface. A sidewall taper,usually in the range of four to seven degrees, accommodates mold releaseand stacking.

The engagement between the arms and the container, which must withstandthe lifting, tilting and other maneuvering, is dependent upon theconstrictive force of the arms about the container and the frictionbetween respective surfaces. The inherent characteristics of a typicalcontainer includes a flexible sidewall with an outer surface having alow coefficient of friction Traditionally, the gripping arms arefabricated of a rigid material, usually metal, also having a relativelylow coefficient of friction.

The foregoing characteristics which inhibit satisfactory engagement ofthe arms with the container are further complicated by other factors.Containers are generally available in two categories, stationary andmobile, having widely variant nominal sizes. Each category is subject tosubstantial additional variation of diameter and taper. Variation incross-sectional configuration is also known. Further, the perimeter of acontainer is frequently distorted as a result of the deposited refuse.

In attempts to alleviate the foregoing problems, the prior art hasdevised several purported solutions. For example, pads of frictionenhancing material have been secured to the normal gripping surface ofthe arms. Also advanced were flexible arms. However, such solutions havenot proven to be entirely satisfactory. Accommodation of variance incross-sectional size and configuration is extremely narrow, therebylimiting the usefulness of any given pair of arms and the overallefficiency of the respective collection vehicle Even so, when a pair ofarms are employed within the given range the frictional contact with thecontainer is less than optimal.

It would be highly advantageous, therefore, to remedy the foregoing andother deficiencies inherent in the prior art.

Accordingly, it is an object of the present invention to provideimprovements in gripping apparatus.

Another object of the invention is the provision of an improvedapparatus of the type especially adapted for gripping and holding acontainer.

And another object of this invention is to provide improvements wherebya gripping apparatus can accommodate containers or other articles havingdiverse cross-sectional measurements.

Still another object of the invention is the provision of means wherebya pair of fixed-size gripping arms can alternately engage containers ofvarying cross-sectional configuration.

Yet another object of the instant invention is to provide means forenhancing the frictional engagement between a pair of gripping arms anda container or similar article.

Yet still another object of the invention is the provision of meanswhich will detect and self-adjust for the article to be gripped.

A further object of the invention is to provide an improved pair ofgripping arms which are capable of substantially continuous contact witha container having a distorted sidewall.

And a further object of the immediate invention is the provision ofimprovements which are durably constructed and relatively maintenancefree.

Still a further object of the invention is to provide improvements whichcan be readily practiced in combination with conventional, pre-existingmaterial handling devices, such as refuse collection vehicles.

And still a further object of the invention is the provision ofimprovements, according to the foregoing, which can be retrofit to priorart gripping arms.

SUMMARY OF THE INVENTION

Briefly, to achieve to desired objects of the instant invention inaccordance with a preferred embodiment thereof, first provided is a pairof arms securable to the actuating means of a prior art materialhandling apparatus such as a conventional refuse collection vehicle. Thearms are movable in opposing directions in response to the actuatingmeans between a release position when the actuating means are in aretracted position and a gripping position when the actuating means isin the extended position An elongate flexible member is carried by eachof the arms. As the arms move from the retracted or release position tothe extended or gripping position, the elongate members engage theperimeter of an article, such as a refuse container.

Preferably, each arm is elongate and includes a fixed end secured to theactuating means, a free end and an inner surface. Each of the elongatemembers is secured to the respective arm at an inner location proximatethe fixed end of the arm at an outer location proximate the free end ofthe arm. Having a length intermediate the locations which is lesser thanthe corresponding length of the arm, the flexible member is held inspaced relationship to the inner surface. Stabilizing means carried byeach arm supports the respective flexible member at a locationintermediate the inner location and the outer location. Also includedare adjustment means for selectively varying the length of the flexiblemember intermediate the inner location and the outer location.

Bearing means carried proximate the free end of each arm contact theperimeter of the container and guides the arm about the container as thearms move from the release position to the gripping position. Further,each arm may include a substantially rigid initial portion extendingfrom the actuating means and a substantially flexible terminal portionextending from the rigid portion. In the preferred embodiment, theelongate flexible member is generally in the form of a strap having afriction enhancing gripping surface for engaging the perimeter of thecontainer.

In accordance with an alternately preferred embodiment of the invention,which includes the previously noted arms, there is provided a limbpivotally secured to each arm an extending inwardly therefrom. Eachelongate member extends between the respective arm and the respectivelimb. Biasing means normally rotate each limb in a direction for placingthe respective flexible member in tension. The flexible memberscompliantly engage the perimeter of the container in response tomovement of the arms to the extended position.

More specifically, each flexible member is secured to the respective armproximate the free end thereof. The biasing means normally urgesrotation of the limb in a direction away from the free end of the arm.Each flexible member has an effective length intermediate the respectivearm and the respective limb which limits rotation of the respective limbin response to the biasing means. Additionally, each limb may bepivotally secured to the respective arm at selective locations along therespective arm. Further, the limb may be pivotally secured to the arm atselective locations along the limb.

In accordance with yet another embodiment of the invention, there areprovided means for alternately gripping a first container and a secondcontainer wherein the perimeter of the first container is larger thanthe perimeter of the second container. According to the immediatelypreferred embodiment, a flexible member is secured to each respectivearm at an inner location and an outer location. Grip control meanscarried by each arm normally present the respective flexible member forengaging the perimeter of the second container and alternately presentthe flexible member for engaging the perimeter of the first container inresponse to the presence of the first container as the arms move fromthe retracted position to the extended position.

More specifically, each grip control means includes a limb pivotallyextending from the respective arm and movable between a retractedposition and an extended position. First means move the limb to theretracted position in response to movement of the arm to the retractedposition. Second means move the limb to the extended position inresponse to the movement of the respective arm to the extended position.In response to the presence of the first container, as the arms movefrom the retracted position to the extended position, the limb is movedtoward the retracted position. Preferrably, the second means includesbiasing means, such as a tension spring, extending between the limb andthe respective arm. Similarly, the first means includes tension meanssuch as a chain or cable extending between the limb and the gripactuating means, for overcoming the biasing means as the arm is moved tothe retracted position.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and further and more specific objects and advantages ofthe instant invention will become readily apparent to those skilled inthe art from the following detailed description of preferred embodimentsthereof taken in conjunction with the drawings in which:

FIG. 1 is a partial perspective view of a material handling device,specifically illustrated as a refuse handling vehicle, includinggripping apparatus embodying the principles of the instant invention;

FIG. 2 is an enlarged fragmentary perspective view of the improvedgripping apparatus of FIG. 1;

FIG. 3 is a fragmentary top plan view of the apparatus seen in FIG. 2,the apparatus being shown in the gripping position with the releasebeing shown in broken outline;

FIG. 4 is a view generally corresponding to the illustration of FIG. 3and showing the apparatus thereof as it would appear when gripping asmaller container;

FIG. 5 is a view generally corresponding to the view of FIG. 3 andillustrating the apparatus thereof as it would appear during anintermediate stage of movement between the release position and thegripping position as it would appear when engaging a larger container;

FIG. 6 is a view generally corresponding to the view of FIG. 5 andillustrating the apparatus as it would appear after having fully engagedthe larger container;

FIG. 7 is a view generally corresponding to the view of FIG. 4 andillustrating an alternate embodiment of the instant invention;

FIG. 8 is a view generally corresponding to the view of FIG. 7 andillustrating the embodiment thereof as it would appear when alternatelyengaging a larger container;

FIG. 9 is a top plan view of yet another embodiment of a grippingapparatus constructed in accordance with the teachings of the instantinvention;

FIG. 10 is a top plan view of a pair of conventional prior art grippingarms having been retrofitted with a kit as set forth by the instantinvention;

FIG. 11 is a view generally corresponding to the illustration of FIG. 10and showing the apparatus thereof as it would appear when engaging andgripping a smaller container having a circular cross section; and

FIG. 12 is a view corresponding to the illustration of FIG. 11 andshowing the device thereof as it would appear after having gripped asmaller container of rectangular cross section.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Turning now to the drawings, in which like reference characters indicatecorresponding elements throughout the several views, attention is firstdirected to FIG. 1 which illustrates a refuse collection vehicle,generally designated by the reference character 20, including frame 22supporting forwardly located cab 23 and rearwardly located storage bay24. Although not specifically illustrated, but as will be readilyrecognized by those skilled in the art, an operator's compartment islocated within cab 23. Similarly, a hopper for receiving refuse islocated in the forward portion of storage bay 24.

A container handling mechanism, generally designated by the referencecharacter 26, is carried by frame 22 intermediate cab 23 and storage bay24. Container handling mechanism 26 includes boom 27 which isreciprocally removable along a linear path, transverse to vehicle 20 asindicated by the double arrowed line A, between a retracted position asshown and an extended position. Boom 27 is also angularly movable, asrepresented by the double arrowed line B, between a lowered position asshown and an elevated position. A tilt mechanism 28 including beam 29 ispivotally affixed to the outboard end of boom 27 for rotation, asindicated by the double arrowed line C in response to hydraulic cylinder30, about an axis which is parallel to the longitudinal axis of vehicle20.

A grip actuating assembly, generally designated by the referencecharacter 32 as seen in greater detail with reference to FIG. 2, iscarried by beam 29. Grip actuating assembly 32 includes first and secondshafts 33 and 34 which are parallel and rotatably journalled within beam29. Segment gear 35 and mounting bracket 37 are carried by shaft 33 forrotation therewith. Similarly, segment gear 38 and mounting bracket 39are carried by shaft 34. Lever 40 is drivingly engaged, at one endthereof, to shaft 33. Operating rod 42 of hydraulic cylinder assembly 43is pivotally connected to the other end of lever 40.

Grip actuating assembly 32 is movable between a retracted position andan extended position The retracted position is illustrated. In responseto movement of actuating rod 42 in the direction of arrowed line D,lever 40 is caused to move in the direction of arrowed line E urgingcounterrotation of shafts 33 and 34. Accordingly, mounting brackets 37and 39 move in the directions indicated by the arrowed lines F and G,respectively, to an extended position.

Normally, a pair of gripping arms are carried by the grip actuatingassembly More specifically, one end of each arm is affixed to arespective mounting bracket. The arms are movable between a releaseposition and a gripping position in response to movement of theactuating assembly between the retracted position and the extendedposition, respectively. In the extreme release position, the arms aresubstantially diametrically opposed and lie in substantial juxtapositionwith the side of the refuse collection vehicle.

During travel of vehicle 20, boom 27 is normally carried in the loweredretracted position The gripping arms reside at the extreme releaseposition. Tilt mechanism 28 is positioned as such that the gripping armsare substantially horizontal with the ground. As the vehicle is broughtto a stop adjacent a refuse container, boom 27 is extended and gripactuating means 32 set in motion to bring the arms into the gripposition and engage the perimeter of the container. The boom is thenretracted and lifted as necessary to position the container adjacent thehopper of the storage bay. The tilt mechanism is then engaged to rotatethe container for transfer of the contents to the hopper. Finally, theprocedure is reversed to return the empty container to the initiallocation and return the container handling mechanism 26 to the travelposition.

Set forth for purposes of orientation and reference in connection withthe ensuing detailed description of preferred embodiments of the instantinvention, the foregoing brief description of refuse collection vehicle20 is intended to be generally representative of typical commerciallyavailable vehicles of the type. The description is also applicable toother material handling apparatus of the type normally utilizing a pairof gripping arms to engage a container or similar device. Details notspecifically illustrated and described will be readily understood andappreciated by those skilled in the art.

Referring again to FIGS. 1 and 2, there is seen a gripping apparatusgenerally designated by the reference character 50 and constructed inaccordance with the teachings of the instant invention. Grippingapparatus 50 includes first and second gripping members 52, 53,respectively, which are illustrated in the extreme release or travelposition in FIG. 1. Each gripping member 52 and 53 is a mirror image ofthe other. Accordingly, in the following detailed description it is tobe understood that elements and function described in connection withone of the gripping members is correspondingly applicable to the other.

Referring now to FIG. 2, it is seen that gripping member 52 includes anarm 54 which, in general similarity to the prior art, is elongate andextends between fixed end 55 and free end 57. Generally characterized asbeing arcuately inturned, arm 52 is preferably fabricated of a rigidmaterial such as channel steel being generally C-shaped in crosssection. In further similarity to the prior art, fixed end 55 is rigidlysecured to mounting bracket 39. In accordance with the immediatelypreferred embodiment of the invention, it is preferred that mountingbracket 39 be shaped and sized to be closely received within the channelof arm 52 and affixed thereto by one or more bolts in accordance withconventional procedure. Arm 52 further includes a top surface 58, abottom surface 59 and an inner surface 60, the latter opposing acontainer in spaced relationship as will be described in further detailpresently.

Upper and lower fingers 62 and 63, projecting from the free end 57 ofarm 52, are spaced apart to carry roller 64 therebetween. Bolt 65extending through the fingers 62 and 63 and roller 64, supports roller64 for rotation about a substantially upright axis.

An elongate flexible member 67 is carried by arm 52 in generally spacedrelationship to inner surface 60. Near the inner end 68, flexible member67 is secured to the inner surface 60 of arm 52 by clamp member 69 whichmay be secured by bolts or other common fastening means to arm 52. Nearthe outer end 70, flexible member 67 passes between the fingers 62 and63 intermediate the end 57 of arm 52 in roller 64 and is secured to theouter surface 72 of arm 52. Although not specifically shown, it is to beunderstood that end 70 is secured to surface 72 in a manner analogous tothe securement of end 68 to surface 60.

An upper bell crank 73 and a corresponding lower bell crank 74 arepivotally secured at an intermediate location thereof to top surface 58and bottom surface 59, respectively, of arm 52 by bolt 75 for mutualrotation about a substantially upright axis Limb 77, preferably anelongate rigid member, extends between an inner end 78 which is rigidlyaffixed between the inboard edges of bell cranks 73 and 74 and an outerend 79 from which project upper and lower fingers 80 and 82,respectively. Cylindrical member 83 resides intermediate fingers 80 and82 at a location spaced from the outer end 79 of limb 77. Whilecylindrical member 83 may be rigidly affixed, it is preferred that themember be journalled for rotation about a substantially upright axis.

Secondary flexible member 84, passing through the opening definedbetween fingers 80 and 82 and between end 79 and cylindrical member 83,is attached at the ends thereof to flexible member 67.

Bracket 85, extending from beam 29, terminates at a location outboard ofsegment gears 35 and 38. Chain 87 is fixed at respective ends to bracket85 and to the outboard ends of bell cranks 73 and 74. Tension spring 88is secured at respective ends to the outboard ends of bell cranks 73 and74 and to arm 52 at a location outboard of the axis of rotation of bellcranks 73 and 74.

With reference to the solid line illustration in FIG. 3, it is seen thatbolt 75 which functions as the pivot for bell cranks 73 and 74 residesat an intermediate location along gripping member 53 which is closer tofixed end 55 than to free end 57. Tension spring 88, exerting a force inthe direction indicated by the arrowed line H, normally urges rotationof bell cranks 73 and 74 and the associated limb 77 in a directionindicated by the arrowed line I. Rotation in the direction of arrowedline I is limited by the length of a segment of flexible member 67 aswill be described in detail presently. For reasons which will becomeapparent as the description proceeds, bolt 75, which functions as thepivot for bell cranks 73 and 74, resides at an intermediate location ofgripping member 53 which is closer to fixed end 55 than to free end 57.Limb 77 is preferably arcuate, having a curve which substantiallycorresponds to the curve of inner surface 60. Cylindrical member 83resides on the adjacent side of the center line of the fully extendedgripping members 52 and 53 as represented by the broken line J.

In response to movement of the grip actuating assembly 32, morespecifically the segment gears 35 and 38, the gripping members 52 and 53move to the retracted position shown in broken outline and representedby the reference character 53A. Bracket 85, the point of attachment ofthe inboard end of chain 87, is spaced inboard of first shaft 33, theaxis of rotation of gripping member 53. Accordingly, as gripping member53 moves from the extended position to the retracted position thedistance between the mounting location of the inboard end of chain 87and bolt 75, the center of rotation of bell cranks 73 and 74, graduallyincreases. The distance from bracket 85 to bolt 75, measured along astraight line, is at a minimum when arm 53 is in the fully extendedposition and at a maximum when gripping apparatus 53 is in the fullyretracted position The length of chain 87, from the attachment atbracket 85 and the attachment at bell cranks 73 and 74, is such thatwhen gripping member 53 is in the fully retracted position bell cranks73 and 74 are rotated in the direction indicated by the arrowed line Kwith limb 77 abutting the inner surface 60 of arm 54. Accordingly, whenarm 54 is in the fully extended position, chain 87 is slack and bellcranks 73 and 74 are subject to the influence of tension spring 88whereby limb 77 is in the fully extended position. As a result of thecurvature, limb 77 lies in close proximity along the length thereof toinner surface 60 of arm 54. Is apparent from the foregoing that chain 87is typically representative of a cable or other non-extendable flexiblecoupling which functions as a tension member.

Secondary flexible member 84 is secured to elongate flexible member 67at an inner location represented by the broken line L and at an outerlocation represented by the broken line M. For purposes of reference,elongate flexible member 67 can be considered to include a first segment89 extending from attachment point L to arm 54 proximate the outboardend and a second segment 90 extending from the attachment point M to arm54 proximate the inboard end. The length of elongate flexible member 67intermediate attachment points L and M is common to the segments 89 and90.

Elongate flexible member 67 and secondary flexible member 84 form achannel 92 intermediate attachment points L and M along whichcylindrical member 83 is movable. The working or effective length ofelongate flexible member 67, i.e. the segment intermediate points ofengagement with arm 54, is sufficient to accommodate retraction of limb77 as seen in the broken outline. In this position, cylindrical member83 resides proximate the contact point M. With limb 77 in the extendedposition, as seen in solid outline, cylindrical member 83 residesproximate the inner contact point L with segment 89 being substantiallyextended and segment 90 being relatively slack. Accordingly, themovement of limb M in the direction indicated by the arcuate arrowedline I is limited by the length of first segment 89. The effectivelength of flexible member 67 and of each of the segments 89 and 90 isselectively adjustable as a result of the clamp 69 which securesrespective ends to the arm 54.

Referring momentarily again to FIG. 2, it is seen that elongate flexiblemember 67 is preferably in the form of a relatively wide belt or straphaving a friction enhancing engagement surface 93 which normally opposesthe corresponding surface of the elongate flexible member supported byfirst grip actuating member 52 and a back surface 94 which opposes innersurface 60 of arm 54. Exemplary is the belt distributed by Victor Blotounder the designation ROUGH TOP®. Particularly preferred is thepolyester model having a width of approximately 4 inches and a thicknessof approximately 3/8 inches.

Conventional commercially available refuse containers are generallyavailable in two series. The larger series, generally designated asstationary containers, typically have a capacity of three hundred tofour hundred twenty gallons with a gripping perimeter ranging fromforty-two to forty-eight inches in diameter The smaller series,generally designated as mobile containers, typically have a capacity inthe range of sixty to one hundred gallons and a gripping perimeterranging from approximately twenty-two inches to twenty-eight inches. Forpurposes of uniformity, the gripping perimeter is established at anabove-ground height of twenty-eight inches.

The previously described embodiment of the instant invention is capableof alternately gripping the larger containers and the smallercontainers. For this purpose, the effective length of elongate flexiblemember 67 is less than one half of the perimeter measurement of thesmallest container in the larger series Similarly, the effective lengthof segment 89 is less than one half of the perimeter measurement of thesmallest container in the smaller series. The gripping of largercontainers and small containers will now be described in detail.

Schematically represented in broken outline designated 95 in FIG. 4 isthe gripping perimeter of a smaller container. As gripping member 53moves from the retracted position to the extended position, chain 87 isrelaxed subjecting bell cranks 73 and 74 to the influence of tensionspring 88. Accordingly, limb 77 is urged toward the extended positionpositioning cylindrical member 83 from roller 64 a distance which isgreater than the cross sectional measurement of the smaller container.Also, grip enhancing surface 93 of segment 89 is presented forengagement with the gripping perimeter of the smaller container. Assurface 93 contacts perimeter 95, segment 89 is urged in a directiontoward inner surface 60 of arm 54 compliantly assuming the shape ofperimeter 95. Concurrently, cylindrical member 83, against the biassingof tension spring 88, is drawn towards perimeter 95 with movement oflimb 77 in the direction indicated by the arcuate arrowed line N.Movement of gripping member 53 continues in a direction toward theextended position, as represented by the arcuate arrowed line 0, untilthe full length of segment 89 is engaged with the perimeter 95. Roller64, if necessary, contacts perimeter 95 to guide arm 54 about thecontainer. The corresponding segment 89 of gripping member 52 issimilarly engaged in opposition. Being flexible, the segments 89 readilyaccommodate any variations or irregularities in perimeter 92 to providean efficient grip which will withstand the lifting, tilting and othermaneuvering of the container.

The arcuate arrowed line R denotes the angle between the longitudinalaxis of limb 77 and the radius of the container intersecting the pointof tangency with perimeter 95 and roller 83. As a result ofexperimentation, it is believed that the angle R must be less than 180°for efficient operation.

The component, including bell cranks 73 and 74, limb 77, and cylindricalmember 83 and subject to the influences of chain 87 and spring 88,functions as grip control means for presenting segment 89 for engagementwith the perimeter of the smaller series container. The assembly alsofunctions as grip control means for detecting the presence of a largerseries container and presenting the full effective length of flexiblemember 67 for engagement with the perimeter thereof. The perimeter of alarger series container is schematically represented by the brokenoutline designated 97 in FIG. 5.

At an intermediate position in the movement of the gripping member 53from the retracted position to the extended position, as limb 77concurrently moves from the retracted position to the extended position,cylindrical member 83 contacts the perimeter 97. It will be appreciatedthat the contact between cylindrical member 83 and perimeter 97 isindirect as a result of the presence of flexible member 67 therebetween.Similarly, it will be appreciated that the angle of contact designatedby the double arrowed arcuate line S is greater than 90 degrees. As aresult, the movement of limb 77 is terminated as the movement of arm 54continues. During the movement of gripping member 53, bracket 85functions as an abutment for perimeter 97 while roller 64 functions as aguide for the free end of arm 54, if necessary. As previously noted, theeffective length of flexible member 67 is shorter than the correspondinglength of inner surface 60 of arm 54. As a result, in the fully extendedposition as seen in FIG. 6, flexible member 67 is engaged with perimeter97 while surface 60 of arm 54 resides in spaced relationship.Accordingly the container is gripped by the shape conforming members 67.

Turning now to FIG. 7 there is seen an alternate gripping member,generally designated by the reference character 90 and constructed inaccordance with the teachings of the instant invention, including arm 92generally arcuately extending between fixed end 93 and free end 94. Arm92 includes an initial portion 95 carrying fixed end 93 and a terminalportion 97 extending from the initial portion 95 and carrying free end94. Initial portion 95, which may be fabricated of steel channel, issubstantially rigid. Terminal portion 97, which may be fabricated ofspring steel, is substantially flexible In all other respects notspecifically illustrated, gripping member 90 is analogous to thepreviously described gripping member 53.

Terminal portion 97 is inwardly biassed to normally reside at a positionas graphically represented by the broken outline designated 97A. Contactof the roller 64 with perimeter 95 urges portion 97 outwardly to aposition as shown in solid outline. The flexibility of section 97cooperates with the flexibility of member 67 to further accommodatediverse configurations of the perimeter 95. The engagement of grippingmember 90 with the perimeter 97 of a large container is seen withrespect to FIG. 8.

Another embodiment of the invention, especially devised for holding asingle size container but readily conforming to variations of theperimeter, will now be described with reference to FIG. 9. The alternategripping apparatus, generally designated by the reference character 100,includes first and second gripping members 102 and 103, respectively,which are opposing mirror images. Each gripping member 102 and 103includes an arcuate arm 104 extending between a fixed end 105, which issecured to a respective mounting bracket 37 and 39 and a free end 107carrying a previously described roller 64. Each arm 104 further includesan inner surface 108.

An elongate flexible member 109, of the character previously describedin connection with the elongate member 67, having inner end 110 andouter end 112 is carried by each arm 104. An attachment bracket 113extends substantially radially inward from the fixed end 105 of each arm104. Flexible member 109 is secured proximate each end as previouslydescribed. Also as previously described, the effective length offlexible member 109 is shorter than the corresponding length of theinner surface 108.

The perimeter of an exemplary container is represented by the brokenline 104. The mounting brackets 113 serve to place the inner end of eachflexible member 109 in close proximity to the perimeter 114, therebyinsuring that a greater length of flexible member 109 is brought intocontact with perimeter 114. Secondary flexible member 115 is secured toelongate flexible member 109 at an intermediate location as previouslydescribed. Support bracket 117, carried by arm 104 encircles secondaryflexible member 115 for movement in reciprocal directions as indicatedby the double arrowed line P. The relative movement between supportbracket 117 and secondary flexible member 115 is analogous to themovement between secondary flexible member 84 and the free end of limb77 as previously described. In addition to allowing movement of flexiblemember 109 to accommodate the peculiarities of perimeter of 114, supportbracket 117 stabilizes flexible member 109 for movement with arm 104,especially as the container is tilted.

Still another embodiment of the instant invention, generally designatedby the reference character 120 is illustrated in FIG. 10. In generalanalogy to the previously described embodiments, the immediateembodiment includes first and second gripping members 122 and 123respectively, which are mirror images and are opposed for movementbetween a retracted position and an extended position in response togrip actuating assembly 32. Each gripping member 122 and 123 includes aninwardly curved arm 124 extending between a fixed end 125, secured to arespective one of the mounting brackets 37 and 39, and a free end 127carrying roller 64. A limb 128 having outboard end 129 and inboard end130 is pivotally secured to arm 124 for rotational movement as indicatedby the double arrowed arcuate line Q. Bolt 132 extends through one of aplurality of spaced apart openings 133 extending along limb 128. Theopenings 133 provide for selective placement of limb 128 relative arm124 for purposes as will become apparent as the description proceeds. Anelongate flexible member 134 extends between the inboard end 130 of limb128 and the free end 127 of arm 124. Tension spring 135 is secured,respective ends, to the outboard end 129 of limb 128 and to arm 124 at alocation in a direction toward free end 127. Tension spring 135 normallyurges rotation of limb 128 in a direction of rotation which is limitedby the length of flexible member 134.

An exemplary container having a generally circular perimeter representedby the broken outline designated 137 is viewed in FIG. 11. Grippingmembers 122 and 123 move between a retracted position and an extendedposition as previously described. As the flexible members 134 arebrought into contact with the perimeter 137 and the arms 124 continue tomove toward the extended position, the springs 135 extend whereby themembers 134 which are normally held in tension, are flexibly deformed toassume the shape of and engage the perimeter 137. By virtue of beingdetachably secured to limb 128 by bolts 138, the effective length offlexible member 134 is selectively variable. The effective length oflimb 128, the distance between free end 130 and pivot bolt 132, is alsovariable by selection of a specific hole 133. Accordingly, grippingapparatus 120 is incrementally adjustable for various sized containers.The adjustment is further enhanced by the openings 139 spaced along arm124, each of which will receive the bolt 132 and provide a mountinglocation for limb 128. The use of the immediate embodiment to grip acontainer having a generally rectangular perimeter represented by thebroken outline 140, is viewed with respect to FIG. 12.

Various changes and modifications to the embodiments herein chosen forpurposes of illustration will readily occur to those skilled in the art.For example, the elements described in connection with a specificembodiment are readily usable in combination with any of the otherembodiments. It is also noted that the container accommodating elementsmay be fabricated as a kit for retrofit to pre-existing arms. To theextent that such modifications and variations do not depart from thespirit of the invention, they are intended to be included within thescope thereof which is accessed only by a fair interpretation of thefollowing claims.

Having fully described and disclosed the instant invention, andalternately prepared embodiments thereof, in such clear and conciseterms as to enable those skilled in the art to understand and practicethe same,

the invention claimed is:
 1. A gripping apparatus for use in combinationwitha container handling mechanism having grip actuation meansselectively movable between a retracted position and an extendedpositionand for alternately gripping a first container having aperimeter, and a second container having a perimeter smaller than theperimeter of the first containersaid gripping apparatus comprising: a) afirst arm mounted for rotation about a first pivot point on saidactuating means, said first arm including a fixed end rigidly secured tosaid actuating means and a free end spaced from said fixed end; b) asecond arm mounted for rotation about a second pivot point on saidactuating means, said second arm including a fixed end rigidly securedto said actuating means and a free end spaced from said fixed end;saidfirst and second arms being movable in opposing directions in responseto said actuating means between a retracted position for alternatelyreceiving said first container and said second container, and anextended position for at least partially encircling the respective saidcontainer in spaced relationship to the perimeter thereof; c) a firstelongate flexible member having a first end secured to the fixed end ofsaid first arm and a second end secured to the free end of said firstarm; p1 d) a second elongate flexible member having a first end securedto the fixed end of said first arm and a second end secured to the freeend of said first arm; and e) grip control means carried by each saidarm for normally presenting the respective said flexible member fortautly engaging the perimeter of said second container and foralternately presenting said flexible member for tautly engaging theperimeter of said first container in automatic response to the presenceof said first container as said arms move from the retracted position tothe extended position wherein each said grip control means comprisesi)divider means for dividing said respective flexible member into a firstsegment and a second segment, wherein the effective length of said firstsegment is less than half the perimeter of said second container and theeffective length of said first and second segments combined is less thanhalf the perimeter of said first container; and ii) means responsive tothe movement of said arm into an extended position for normallypresenting the full effective length of said first segment forengagement with the perimeter of said second container and forautomatically moving the effective combined lengths of said first andsecond segments into engagement with the perimeter of said firstcontainer when said first container is present between said arms.
 2. Ina container handling apparatus for gripping and moving a container:saidapparatus including grip actuating means selectively movable between aretracted position and an extended position, and said containerincluding a perimeter, improvements therein for accommodating variationsin the shape of the perimeter of said container, said improvementscomprising:a) a first arm securable to said grip actuating means andhaving a fixed end and a free end; b) a second arm securable to saidgrip actuating means and having a fixed end and a free end;said firstand said second arms being movable in opposing directions in response tomovement of said grip actuating means between said retracted andextended positions; c) a first limb having a first end pivotally securedto said first arm at a location intermediate said fixed end and saidfree end, and a second end extending inwardly therefrom; d) a secondlimb having a first end pivotally secured to said second arm at alocation intermediate said fixed end and said free end, and a second endextending inwardly therefrom; e) a first elongate flexible member havingone end secured to the second end of said first limb and an opposite endsecured to the free end of said first arm; f) a second elongate flexiblemember having one end secured to the second end of said second limb andan opposite end secured to the free end of said second arm; g) firstbiasing means normally rotating said first limb in a direction forplacing said first flexible member in tension; h) second biasing meansnormally rotating said second limb in a direction for placing saidsecond flexible member in tension,said first and second members beingcompliantly engageable with the perimeter of said container in responseto movement of said first and second arms to said extended position. 3.A gripping apparatus for use in combination witha container handlingmechanism having grip actuation means selectively movable between aretracted position and an extended positionand for alternately grippinga first container having a perimeter, and a second container having aperimeter smaller than the perimeter of the first container,saidgripping apparatus comprising: a) a first arm mounted for rotation abouta first pivot point on said actuating means, said first arm including afixed end rigidly secured to said actuating means and a free end spacedfrom said fixed end; b) a second arm mounted for rotation about a secondpivot point on said actuating means, said second arm including a fixedend rigidly secured to said actuating means and a free end spaced fromsaid fixed end;said first and second arms being movable in opposingdirections in response to said actuating means between a retractedposition for alternately receiving said first container and said secondcontainer, and an extended position for at least partially encirclingthe respective said container in spaced relationship to the perimeterthereof; c) a first elongate flexible member having a first end securedto the fixed end of said first arm and a second end secured to the freeend of said first arm; d) a second elongate flexible member having afirst end secured to the fixed end of said first end secured to thefixed end of said first arm and a second end secured to the free end ofsaid first arm; and e) grip control means carried by each said art fornormally presenting the respective said flexible member for tautlyengaging the perimeter of said second container and for alternatelypresenting said flexible member for tautly engaging the perimeter ofsaid first container in automatic response to the presence of said firstcontainer as said arms move from the retracted position to the extendedposition,wherein each of said grip control means comprises means fornormally presenting a first portion of the respective flexible memberfor tautly engaging the perimeter of said second container along acontinuous length thereof and for alternately presenting a largerportion of said flexible member for tautly engaging the perimeter ofsaid first container along a continuous length thereof in response tothe presence of a larger container as the arms move from said retractedposition to said extended position.
 4. A gripping apparatus according toclaim 3, wherein the length of said first portion is equal to at leastone fourth the perimeter of said second container, and the length ofsaid second portion is equal to at least one fourth the perimeter ofsaid first container.